21

<a class="el" href="dir_0aa10e4f705947227e11e7ccb081fbe4.html">src</a></div>

    49

<a name="l00048"></a><a class="code" href="pdo_8h.html#06b1b812ca18d3167243fb2b2acb6414">00048</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> numPdo, <a class="code" href="structMessage.html">Message</a> *pdo)

    50

<a name="l00049"></a>00049 {

    51

<a name="l00050"></a>00050         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_com = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a> + numPdo; 

    52

<a name="l00051"></a>00051         <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a>* TPDO_map = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a> + numPdo;

    53

<a name="l00052"></a>00052         

    54

<a name="l00053"></a>00053         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> prp_j = 0x00;

    55

<a name="l00054"></a>00054         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> offset = 0x00;

    56

<a name="l00055"></a>00055         <span class="keyword">const</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;

    57

<a name="l00056"></a>00056 

    58

<a name="l00057"></a>00057         pdo-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x7FF;

    59

<a name="l00058"></a>00058         pdo-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;

    61

<a name="l00060"></a>00060         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3009, <span class="stringliteral">"  PDO CobId is : "</span>, *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)TPDO_com-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>);

    62

<a name="l00061"></a>00061         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300D, <span class="stringliteral">"  Number of objects mapped : "</span>,*pMappingCount );

    63

<a name="l00062"></a>00062         

    64

<a name="l00063"></a>00063         <span class="keywordflow">do</span>{

    65

<a name="l00064"></a>00064                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType; <span class="comment">/* Unused */</span>

    66

<a name="l00065"></a>00065                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0}; <span class="comment">/* temporary space to hold bits */</span>

    67

<a name="l00066"></a>00066 

    68

<a name="l00067"></a>00067                 <span class="comment">/* pointer fo the var which holds the mapping parameter of an mapping entry  */</span>

    69

<a name="l00068"></a>00068                 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>* pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) TPDO_map-&gt;<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[prp_j + 1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;

    70

<a name="l00069"></a>00069                 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index = (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16);

    71

<a name="l00070"></a>00070                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter); <span class="comment">/* Size in bits */</span>

    72

<a name="l00071"></a>00071                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt; 2, ... */</span>

    73

<a name="l00072"></a>00072                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(( (*pMappingParameter) &gt;&gt; (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)8 ) &amp; (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>)0x000000FF);

    74

<a name="l00073"></a>00073                 

    75

<a name="l00074"></a>00074                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x300F, <span class="stringliteral">"  got mapping parameter : "</span>, *pMappingParameter);

    76

<a name="l00075"></a>00075                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3050, <span class="stringliteral">"    at index : "</span>, TPDO_map-&gt;<a class="code" href="structtd__indextable.html#886a98ee4bd1ff0cd6182d0b0be8c486">index</a>);

    77

<a name="l00076"></a>00076                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3051, <span class="stringliteral">"    sub-index : "</span>, prp_j + 1);

    78

<a name="l00077"></a>00077                 

    79

<a name="l00078"></a>00078                 <span class="keywordflow">if</span>( <a class="code" href="objacces_8c.html#cad0c118b1e06230c9cceb8e3985822b">getODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, index, subIndex, tmp, &amp;ByteSize, &amp;dataType, 0 ) != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> ){

    80

<a name="l00079"></a>00079                         <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1013, <span class="stringliteral">" Couldn't find mapped variable at index-subindex-size : "</span>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)(*pMappingParameter));

    81

<a name="l00080"></a>00080                         <span class="keywordflow">return</span> 0xFF;

    82

<a name="l00081"></a>00081                 }

    83

<a name="l00082"></a>00082                 <span class="comment">/* copy bit per bit in little endian*/</span>

    84

<a name="l00083"></a>00083                 <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0 , 0, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;pdo-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0);

    86

<a name="l00085"></a>00085                 offset += Size ;

    87

<a name="l00086"></a>00086                 prp_j++;

    88

<a name="l00087"></a>00087         }<span class="keywordflow">while</span>( prp_j &lt; *pMappingCount );

    89

<a name="l00088"></a>00088 

    90

<a name="l00089"></a>00089         pdo-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1 + ((offset - 1) &gt;&gt; 3);

    91

<a name="l00090"></a>00090 

    92

<a name="l00091"></a>00091         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3015, <span class="stringliteral">"  End scan mapped variable"</span>, 0);

    93

<a name="l00092"></a>00092 

    94

<a name="l00093"></a>00093         <span class="keywordflow">return</span> 0;

    95

<a name="l00094"></a>00094 }

    97

<a name="l00104"></a><a class="code" href="pdo_8h.html#2a4d6e86bc4447a3c45c9b96bd61f995">00104</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> RPDOIndex )

    98

<a name="l00105"></a>00105 {

    99

<a name="l00106"></a>00106   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> * pwCobId;

   100

<a name="l00107"></a>00107   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offset = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;

   101

<a name="l00108"></a>00108   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;

   102

<a name="l00109"></a>00109 

   103

<a name="l00110"></a>00110   <span class="comment">/* Sending the request only if the cobid have been found on the PDO</span>

   104

<a name="l00111"></a>00111 <span class="comment">     receive */</span>

   105

<a name="l00112"></a>00112   <span class="comment">/* part dictionary */</span>

   106

<a name="l00113"></a>00113   

   107

<a name="l00114"></a>00114   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest RPDO Index : "</span>,RPDOIndex);

   108

<a name="l00115"></a>00115   

   109

<a name="l00116"></a>00116   <span class="keywordflow">if</span> (offset &amp;&amp; RPDOIndex &gt;= 0x1400){

   110

<a name="l00117"></a>00117     offset += RPDOIndex - 0x1400;  

   111

<a name="l00118"></a>00118     <span class="keywordflow">if</span> (offset &lt;= lastIndex) {

   112

<a name="l00119"></a>00119       <span class="comment">/* get the CobId*/</span>

   113

<a name="l00120"></a>00120       pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offset].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;

   114

<a name="l00121"></a>00121 

   115

<a name="l00122"></a>00122       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3930, <span class="stringliteral">"sendPDOrequest cobId is : "</span>,*pwCobId);

   116

<a name="l00123"></a>00123 

   117

<a name="l00124"></a>00124       <a class="code" href="structMessage.html">Message</a> pdo = {*pwCobId, <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>, 0};

   118

<a name="l00125"></a>00125       <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);

   119

<a name="l00126"></a>00126     }

   120

<a name="l00127"></a>00127   }

   121

<a name="l00128"></a>00128   <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1931, <span class="stringliteral">"sendPDOrequest : RPDO Index not found : "</span>, RPDOIndex);

   122

<a name="l00129"></a>00129   <span class="keywordflow">return</span> 0xFF;

   123

<a name="l00130"></a>00130 }

   124

<a name="l00131"></a>00131 

   125

<a name="l00132"></a>00132 

   126

<a name="l00141"></a><a class="code" href="pdo_8h.html#f653b9e9cc46d8290b3ce2d6392b5a52">00141</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#f653b9e9cc46d8290b3ce2d6392b5a52">proceedPDO</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m)

   127

<a name="l00142"></a>00142 {

   128

<a name="l00143"></a>00143   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numPdo;

   129

<a name="l00144"></a>00144   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>   numMap;  <span class="comment">/* Number of the mapped varable */</span>

   130

<a name="l00145"></a>00145   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i;

   131

<a name="l00146"></a>00146   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> *     pMappingCount = NULL;    <span class="comment">/* count of mapped objects... */</span>

   132

<a name="l00147"></a>00147   <span class="comment">/* pointer to the var which is mapped to a pdo... */</span>

   133

<a name="l00148"></a>00148   <span class="comment">/*  void *     pMappedAppObject = NULL;   */</span>

   134

<a name="l00149"></a>00149   <span class="comment">/* pointer fo the var which holds the mapping parameter of an</span>

   135

<a name="l00150"></a>00150 <span class="comment">     mapping entry */</span>

   136

<a name="l00151"></a>00151   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pMappingParameter = NULL;

   137

<a name="l00152"></a>00152   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  *    pTransmissionType = NULL; <span class="comment">/* pointer to the transmission</span>

   138

<a name="l00153"></a>00153 <span class="comment">                                         type */</span>

   139

<a name="l00154"></a>00154   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> *    pwCobId = NULL;

   140

<a name="l00155"></a>00155   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       Size;

   141

<a name="l00156"></a>00156   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       dataType;

   142

<a name="l00157"></a>00157   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       offset;

   143

<a name="l00158"></a>00158   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>       status;

   144

<a name="l00159"></a>00159   <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>      objDict;

   145

<a name="l00160"></a>00160   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      offsetObjdict;

   146

<a name="l00161"></a>00161   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>      lastIndex;

   147

<a name="l00162"></a>00162   

   148

<a name="l00163"></a>00163   status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;

   149

<a name="l00164"></a>00164 

   150

<a name="l00165"></a>00165   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3935, <span class="stringliteral">"proceedPDO, cobID : "</span>, ((*m).cob_id.w &amp; 0x7ff));

   151

<a name="l00166"></a>00166   offset = 0x00;

   152

<a name="l00167"></a>00167   numPdo = 0;

   153

<a name="l00168"></a>00168   numMap = 0;

   154

<a name="l00169"></a>00169   <span class="keywordflow">if</span>((*m).rtr == <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a> ) { <span class="comment">/* The PDO received is not a</span>

   155

<a name="l00170"></a>00170 <span class="comment">                                     request. */</span>

   156

<a name="l00171"></a>00171 

   157

<a name="l00172"></a>00172     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;

   158

<a name="l00173"></a>00173     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#7d473b93d199e099ae3cde431de49ebb">PDO_RCV</a>;

   159

<a name="l00174"></a>00174 

   160

<a name="l00175"></a>00175     <span class="comment">/* study of all the PDO stored in the dictionary */</span>

   161

<a name="l00176"></a>00176     <span class="keywordflow">if</span>(offsetObjdict)

   162

<a name="l00177"></a>00177       <span class="keywordflow">while</span> (offsetObjdict &lt;= lastIndex) {

   163

<a name="l00178"></a>00178 

   164

<a name="l00179"></a>00179         <span class="keywordflow">switch</span>( status ) {

   165

<a name="l00180"></a>00180 

   166

<a name="l00181"></a>00181         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>:

   167

<a name="l00182"></a>00182           <span class="comment">/* get CobId of the dictionary correspondant to the received</span>

   168

<a name="l00183"></a>00183 <span class="comment">             PDO */</span>

   169

<a name="l00184"></a>00184           pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[1].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;

   170

<a name="l00185"></a>00185           <span class="comment">/* check the CobId coherance */</span>

   171

<a name="l00186"></a>00186           <span class="comment">/*pwCobId is the cobId read in the dictionary at the state 3</span>

   172

<a name="l00187"></a>00187 <span class="comment">            */</span>

   173

<a name="l00188"></a>00188           if ( *pwCobId == (*m).cob_id.w ){

   174

<a name="l00189"></a>00189             <span class="comment">/* The cobId is recognized */</span>

   175

<a name="l00190"></a>00190             status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;

   176

<a name="l00191"></a>00191             <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3936, <span class="stringliteral">"cobId found at index "</span>, 0x1400 + numPdo);

   177

<a name="l00192"></a>00192             <span class="keywordflow">break</span>;

   178

<a name="l00193"></a>00193           }

   179

<a name="l00194"></a>00194           <span class="keywordflow">else</span> {

   180

<a name="l00195"></a>00195             <span class="comment">/* cobId received does not match with those write in the</span>

   181

<a name="l00196"></a>00196 <span class="comment">              dictionnary */</span>

   182

<a name="l00197"></a>00197             numPdo++;

   183

<a name="l00198"></a>00198             offsetObjdict++;

   184

<a name="l00199"></a>00199             status = <a class="code" href="def_8h.html#c05f4cb35568d9c4627f126ef1688e4d">state2</a>;

   185

<a name="l00200"></a>00200             <span class="keywordflow">break</span>;

   186

<a name="l00201"></a>00201           }

   187

<a name="l00202"></a>00202 

   188

<a name="l00203"></a>00203             <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* Get Mapped Objects Number */</span>

   189

<a name="l00204"></a>00204                <span class="comment">/* The cobId of the message received has been found in the</span>

   190

<a name="l00205"></a>00205 <span class="comment">                 dictionnary. */</span>

   191

<a name="l00206"></a>00206                offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;

   192

<a name="l00207"></a>00207              lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#ba3d56319f2296a94aafb162453f39da">PDO_RCV_MAP</a>;

   193

<a name="l00208"></a>00208              pMappingCount = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[0].pObject;

   194

<a name="l00209"></a>00209              numMap = 0;

   195

<a name="l00210"></a>00210              <span class="keywordflow">while</span> (numMap &lt; *pMappingCount) {

   196

<a name="l00211"></a>00211                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> tmp[]= {0,0,0,0,0,0,0,0};

   197

<a name="l00212"></a>00212                <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ByteSize;

   198

<a name="l00213"></a>00213                pMappingParameter = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict + numPdo)-&gt;pSubindex[numMap + 1].pObject;

   199

<a name="l00214"></a>00214                <span class="keywordflow">if</span> (pMappingParameter == NULL) {

   200

<a name="l00215"></a>00215                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1937, <span class="stringliteral">"Couldn't get mapping parameter : "</span>, numMap + 1);

   201

<a name="l00216"></a>00216                  <span class="keywordflow">return</span> 0xFF;

   202

<a name="l00217"></a>00217                }

   203

<a name="l00218"></a>00218                <span class="comment">/* Get the addresse of the mapped variable. */</span>

   204

<a name="l00219"></a>00219                <span class="comment">/* detail of *pMappingParameter : */</span>

   205

<a name="l00220"></a>00220                <span class="comment">/* The 16 hight bits contains the index, the medium 8 bits</span>

   206

<a name="l00221"></a>00221 <span class="comment">                 contains the subindex, */</span>

   207

<a name="l00222"></a>00222                <span class="comment">/* and the lower 8 bits contains the size of the mapped</span>

   208

<a name="l00223"></a>00223 <span class="comment">                 variable. */</span>

   209

<a name="l00224"></a>00224 

   210

<a name="l00225"></a>00225                Size = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(*pMappingParameter);

   211

<a name="l00226"></a>00226 

   212

<a name="l00227"></a>00227                <span class="comment">/* copy bit per bit in little endian */</span>

   213

<a name="l00228"></a>00228                <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(Size, (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)&amp;m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[offset&gt;&gt;3], offset%8, 0, ((<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*)tmp), 0, 0);

   214

<a name="l00229"></a>00229 

   215

<a name="l00230"></a>00230                ByteSize = 1 + ((Size - 1) &gt;&gt; 3); <span class="comment">/*1-&gt;8 =&gt; 1 ; 9-&gt;16 =&gt;</span>

   216

<a name="l00231"></a>00231 <span class="comment">                                                   2, ... */</span>

   217

<a name="l00232"></a>00232 

   218

<a name="l00233"></a>00233                objDict = <a class="code" href="objacces_8c.html#dad5d2f7890168cade2fbb7e0e4c6200">setODentry</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, (<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>)((*pMappingParameter) &gt;&gt; 16),

   219

<a name="l00234"></a>00234                                     (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF),

   220

<a name="l00235"></a>00235                                  tmp, &amp;ByteSize, 0 );

   221

<a name="l00236"></a>00236 

   222

<a name="l00237"></a>00237                <span class="keywordflow">if</span>(objDict != <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a>) {

   223

<a name="l00238"></a>00238                  <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1938, <span class="stringliteral">"error accessing to the mapped var : "</span>, numMap + 1);

   224

<a name="l00239"></a>00239                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2939, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   225

<a name="l00240"></a>00240                  <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2940, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   226

<a name="l00241"></a>00241                  <span class="keywordflow">return</span> 0xFF;

   227

<a name="l00242"></a>00242                }

   229

<a name="l00244"></a>00244                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3942, <span class="stringliteral">"Variable updated with value received by PDO cobid : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);

   230

<a name="l00245"></a>00245                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3943, <span class="stringliteral">"         Mapped at index : "</span>, (*pMappingParameter) &gt;&gt; 16);

   231

<a name="l00246"></a>00246                <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3944, <span class="stringliteral">"                subindex : "</span>, ((*pMappingParameter) &gt;&gt; 8 ) &amp; 0xFF);

   232

<a name="l00247"></a>00247                <span class="comment">/* MSG_WAR(0x3945, "                data : ",*((UNS32*)pMappedAppObject)); */</span>

   233

<a name="l00248"></a>00248                offset += Size;

   234

<a name="l00249"></a>00249                numMap++;

   235

<a name="l00250"></a>00250                <span class="comment">/*TODO :  check that offset is not not greater that message size (in bit) */</span>

   236

<a name="l00251"></a>00251              } <span class="comment">/* end loop while on mapped variables */</span>

   238

<a name="l00253"></a>00253              offset=0x00;

   239

<a name="l00254"></a>00254              numMap = 0;

   240

<a name="l00255"></a>00255              <span class="keywordflow">return</span> 0;

   242

<a name="l00257"></a>00257         }<span class="comment">/* end switch status*/</span>

   243

<a name="l00258"></a>00258       }<span class="comment">/* end while*/</span>

   244

<a name="l00259"></a>00259   }<span class="comment">/* end if Donnees */</span>

   245

<a name="l00260"></a>00260   <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*m).rtr == <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a> ){

   246

<a name="l00261"></a>00261     <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3946, <span class="stringliteral">"Receive a PDO request cobId : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);

   247

<a name="l00262"></a>00262     status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;

   248

<a name="l00263"></a>00263     offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;

   249

<a name="l00264"></a>00264     lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;

   250

<a name="l00265"></a>00265     <span class="keywordflow">if</span>(offsetObjdict) <span class="keywordflow">while</span>( offsetObjdict  &lt;= lastIndex ){

   251

<a name="l00266"></a>00266       <span class="comment">/* study of all PDO stored in the objects dictionary */</span>

   252

<a name="l00267"></a>00267 

   253

<a name="l00268"></a>00268       <span class="keywordflow">switch</span>( status ){

   254

<a name="l00269"></a>00269 

   255

<a name="l00270"></a>00270       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>:<span class="comment">/* check the CobId */</span>

   256

<a name="l00271"></a>00271         <span class="comment">/* get CobId of the dictionary which match to the received PDO</span>

   257

<a name="l00272"></a>00272 <span class="comment">         */</span>

   258

<a name="l00273"></a>00273         pwCobId = (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*) (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a> + offsetObjdict)-&gt;pSubindex[1].pObject;

   259

<a name="l00274"></a>00274         <span class="keywordflow">if</span> ( *pwCobId == (*m).cob_id.w ) {

   260

<a name="l00275"></a>00275           status = <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>;

   261

<a name="l00276"></a>00276           <span class="keywordflow">break</span>;

   262

<a name="l00277"></a>00277         }

   263

<a name="l00278"></a>00278         <span class="keywordflow">else</span> {

   264

<a name="l00279"></a>00279           numPdo++;

   265

<a name="l00280"></a>00280           offsetObjdict++;

   266

<a name="l00281"></a>00281         }

   267

<a name="l00282"></a>00282         status = <a class="code" href="def_8h.html#b9fd77c7944f50b395e6bb648e2c505e">state1</a>;

   268

<a name="l00283"></a>00283         <span class="keywordflow">break</span>;

   269

<a name="l00284"></a>00284 

   270

<a name="l00285"></a>00285 

   271

<a name="l00286"></a>00286       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9b5e8fb69ee4bc987183d203fa0d4c9b">state4</a>:<span class="comment">/* check transmission type */</span>

   272

<a name="l00287"></a>00287         pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;

   273

<a name="l00288"></a>00288         <span class="comment">/* If PDO is to be sampled and send on RTR, do it*/</span>

   274

<a name="l00289"></a>00289         if ( (*pTransmissionType == TRANS_RTR)) {

   275

<a name="l00290"></a>00290           status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;

   276

<a name="l00291"></a>00291           <span class="keywordflow">break</span>;

   277

<a name="l00292"></a>00292         <span class="comment">/* RTR_SYNC mean data is prepared at SYNC, and transmitted on RTR */</span>

   278

<a name="l00293"></a>00293         }<span class="keywordflow">else</span> <span class="keywordflow">if</span> ((*pTransmissionType == TRANS_RTR_SYNC )) {

   279

<a name="l00294"></a>00294           <span class="keywordflow">if</span>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_RTR_SYNC_READY){

   280

<a name="l00295"></a>00295             <span class="comment">/*Data ready, just send*/</span>

   281

<a name="l00296"></a>00296             <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>);

   282

<a name="l00297"></a>00297             <span class="keywordflow">return</span> 0;

   283

<a name="l00298"></a>00298           }<span class="keywordflow">else</span>{

   284

<a name="l00299"></a>00299             <span class="comment">/* if SYNC did never occur, force emission with current data */</span>

   285

<a name="l00300"></a>00300             <span class="comment">/* DS301 do not tell what to do in such a case...*/</span>

   286

<a name="l00301"></a>00301             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1947, <span class="stringliteral">"Not ready RTR_SYNC TPDO send current data : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);

   287

<a name="l00302"></a>00302             status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;

   288

<a name="l00303"></a>00303           }

   289

<a name="l00304"></a>00304           <span class="keywordflow">break</span>;

   290

<a name="l00305"></a>00305         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(

   291

<a name="l00306"></a>00306              (*pTransmissionType == TRANS_EVENT_PROFILE) ||

   292

<a name="l00307"></a>00307              (*pTransmissionType == TRANS_EVENT_SPECIFIC) ) {

   293

<a name="l00308"></a>00308           <span class="comment">/* Zap all timers and inhibit flag */</span>

   294

<a name="l00309"></a>00309           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a>);

   295

<a name="l00310"></a>00310           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a>);

   296

<a name="l00311"></a>00311           <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[numPdo].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;

   297

<a name="l00312"></a>00312           <span class="comment">/* Call  PDOEventTimerAlarm for this TPDO, this will trigger emission et reset timers */</span>

   298

<a name="l00313"></a>00313           <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo);

   299

<a name="l00314"></a>00314           <span class="keywordflow">return</span> 0;

   300

<a name="l00315"></a>00315         }<span class="keywordflow">else</span> {

   301

<a name="l00316"></a>00316           <span class="comment">/* The requested PDO is not to send on request. So, does</span>

   302

<a name="l00317"></a>00317 <span class="comment">            nothing. */</span>

   303

<a name="l00318"></a>00318           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2947, <span class="stringliteral">"PDO is not to send on request : "</span>, m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>);

   304

<a name="l00319"></a>00319           <span class="keywordflow">return</span> 0xFF;

   305

<a name="l00320"></a>00320         }

   306

<a name="l00321"></a>00321 

   307

<a name="l00322"></a>00322       <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>:<span class="comment">/* build and send requested PDO */</span>

   308

<a name="l00323"></a>00323       {

   309

<a name="l00324"></a>00324         <a class="code" href="structMessage.html">Message</a> pdo;

   310

<a name="l00325"></a>00325         <span class="keywordflow">if</span>( <a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, numPdo, &amp;pdo))

   311

<a name="l00326"></a>00326         {

   312

<a name="l00327"></a>00327           <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1948, <span class="stringliteral">" Couldn't build TPDO n°"</span>, numPdo);

   313

<a name="l00328"></a>00328           <span class="keywordflow">return</span> 0xFF;

   314

<a name="l00329"></a>00329         }

   315

<a name="l00330"></a>00330         <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;pdo);

   316

<a name="l00331"></a>00331         <span class="keywordflow">return</span> 0;

   317

<a name="l00332"></a>00332       }

   318

<a name="l00333"></a>00333       }<span class="comment">/* end switch status */</span>

   319

<a name="l00334"></a>00334     }<span class="comment">/* end while */</span>

   320

<a name="l00335"></a>00335   }<span class="comment">/* end if Requete */</span>

   321

<a name="l00336"></a>00336 

   322

<a name="l00337"></a>00337   <span class="keywordflow">return</span> 0;

   323

<a name="l00338"></a>00338 }

   325

<a name="l00351"></a><a class="code" href="pdo_8h.html#ad755ad656fe0f661ca6bd17acb1245a">00351</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#ad755ad656fe0f661ca6bd17acb1245a">CopyBits</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> NbBits, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* SrcByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> SrcBigEndian, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* DestByteIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBitIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> DestBigEndian)

   326

<a name="l00352"></a>00352 {

   327

<a name="l00353"></a>00353   <span class="comment">/* This loop copy as many bits that it can each time, crossing*/</span>

   328

<a name="l00354"></a>00354   <span class="comment">/* successively bytes*/</span>

   329

<a name="l00355"></a>00355   <span class="comment">// boundaries from LSB to MSB.</span>

   330

<a name="l00356"></a>00356   <span class="keywordflow">while</span>(NbBits &gt; 0)

   331

<a name="l00357"></a>00357     {

   332

<a name="l00358"></a>00358       <span class="comment">/* Bit missalignement between src and dest*/</span>

   333

<a name="l00359"></a>00359       <a class="code" href="hcs12_2applicfg_8h.html#6452da7d208e10c600824e6f8d437ea6">INTEGER8</a> Vect = DestBitIndex - SrcBitIndex;

   334

<a name="l00360"></a>00360 

   335

<a name="l00361"></a>00361       <span class="comment">/* We can now get src and align it to dest*/</span>

   336

<a name="l00362"></a>00362       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Aligned = Vect&gt;0 ? *SrcByteIndex &lt;&lt; Vect : *SrcByteIndex &gt;&gt; -Vect;

   337

<a name="l00363"></a>00363 

   338

<a name="l00364"></a>00364       <span class="comment">/* Compute the nb of bit we will be able to copy*/</span>

   339

<a name="l00365"></a>00365       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BoudaryLimit = (Vect&gt;0 ? 8 - DestBitIndex :  8 - SrcBitIndex );

   340

<a name="l00366"></a>00366       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> BitsToCopy = BoudaryLimit &gt; NbBits ? NbBits : BoudaryLimit;

   341

<a name="l00367"></a>00367 

   342

<a name="l00368"></a>00368       <span class="comment">/* Create a mask that will serve in:*/</span>

   343

<a name="l00369"></a>00369       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Mask = ((0xff &lt;&lt; (DestBitIndex + BitsToCopy)) | (0xff &gt;&gt; (8 - DestBitIndex)));

   344

<a name="l00370"></a>00370 

   345

<a name="l00371"></a>00371       <span class="comment">/* - Filtering src*/</span>

   346

<a name="l00372"></a>00372       <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Filtered = Aligned &amp; ~Mask;

   347

<a name="l00373"></a>00373 

   348

<a name="l00374"></a>00374       <span class="comment">/* - and erase bits where we write, preserve where we don't*/</span>

   349

<a name="l00375"></a>00375       *DestByteIndex &amp;= Mask;

   350

<a name="l00376"></a>00376 

   351

<a name="l00377"></a>00377       <span class="comment">/* Then write.*/</span>

   352

<a name="l00378"></a>00378       *DestByteIndex |= Filtered ;

   353

<a name="l00379"></a>00379 

   354

<a name="l00380"></a>00380       <span class="comment">/*Compute next time cursors for src*/</span>

   355

<a name="l00381"></a>00381       <span class="keywordflow">if</span>((SrcBitIndex += BitsToCopy)&gt;7)<span class="comment">/* cross boundary ?*/</span>

   356

<a name="l00382"></a>00382         {

   357

<a name="l00383"></a>00383           SrcBitIndex = 0;<span class="comment">/* First bit*/</span>

   358

<a name="l00384"></a>00384           SrcByteIndex += (SrcBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>

   359

<a name="l00385"></a>00385         }

   360

<a name="l00386"></a>00386 

   361

<a name="l00387"></a>00387 

   362

<a name="l00388"></a>00388       <span class="comment">/*Compute next time cursors for dest*/</span>

   363

<a name="l00389"></a>00389       <span class="keywordflow">if</span>((DestBitIndex += BitsToCopy)&gt;7)

   364

<a name="l00390"></a>00390         {

   365

<a name="l00391"></a>00391           DestBitIndex = 0;<span class="comment">/* First bit*/</span>

   366

<a name="l00392"></a>00392           DestByteIndex += (DestBigEndian ? -1 : 1);<span class="comment">/* Next byte*/</span>

   367

<a name="l00393"></a>00393         }

   368

<a name="l00394"></a>00394 

   369

<a name="l00395"></a>00395       <span class="comment">/*And decrement counter.*/</span>

   370

<a name="l00396"></a>00396       NbBits -= BitsToCopy;

   371

<a name="l00397"></a>00397     }

   372

<a name="l00398"></a>00398 

   373

<a name="l00399"></a>00399 }

   374

<a name="l00408"></a><a class="code" href="pdo_8h.html#adaae758ac4e9333eec59ff123ba98ad">00408</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#adaae758ac4e9333eec59ff123ba98ad">sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)

   375

<a name="l00409"></a>00409 {

   376

<a name="l00410"></a>00410   <span class="comment">/* Calls _sendPDOevent specifying it is not a sync event */</span>

   377

<a name="l00411"></a>00411   <span class="keywordflow">return</span> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0);

   378

<a name="l00412"></a>00412 }

   379

<a name="l00413"></a>00413         

   380

<a name="l00414"></a>00414 

   381

<a name="l00415"></a><a class="code" href="pdo_8h.html#1e6f0540474e95f2928151efec83ccb6">00415</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)

   382

<a name="l00416"></a>00416 {

   383

<a name="l00417"></a>00417         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>

   384

<a name="l00418"></a>00418         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#17af26b615c0fd36a11d2a637b88e2fc">event_timer</a> = TIMER_NONE;

   385

<a name="l00419"></a>00419         <span class="comment">/* force emission of PDO by artificially changing last emitted*/</span>

   386

<a name="l00420"></a>00420         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0;

   387

<a name="l00421"></a>00421         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>    

   388

<a name="l00422"></a>00422 }

   389

<a name="l00423"></a>00423 

   390

<a name="l00424"></a><a class="code" href="pdo_8h.html#adf6445208b9af9b11f66f66a5d1f1f9">00424</a> <span class="keywordtype">void</span> <a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> pdoNum)

   391

<a name="l00425"></a>00425 {

   392

<a name="l00426"></a>00426         <span class="comment">/* This is needed to avoid deletion of re-attribuated timer */</span>

   393

<a name="l00427"></a>00427         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#7443e5ea0b56fb7de4c70b38dd722bca">inhibit_timer</a> = TIMER_NONE;

   394

<a name="l00428"></a>00428         <span class="comment">/* Remove inhibit flag */</span>

   395

<a name="l00429"></a>00429         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp;= ~PDO_INHIBITED;

   396

<a name="l00430"></a>00430         <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, 0 ); <span class="comment">/* not a Sync Event*/</span>

   397

<a name="l00431"></a>00431 }

   398

<a name="l00432"></a>00432 

   399

<a name="l00442"></a><a class="code" href="pdo_8h.html#fbf33713253ccf33f9277e31c78a6cb5">00442</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="pdo_8c.html#fbf33713253ccf33f9277e31c78a6cb5">_sendPDOevent</a>( <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> isSyncEvent )

   400

<a name="l00443"></a>00443 { 

   401

<a name="l00444"></a>00444   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>  pdoNum = 0x00;       <span class="comment">/* number of the actual processed pdo-nr. */</span>

   402

<a name="l00445"></a>00445   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* pTransmissionType = NULL;  

   403

<a name="l00446"></a>00446   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> status = <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>;

   404

<a name="l00447"></a>00447   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdict = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;

   405

<a name="l00448"></a>00448   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> offsetObjdictMap = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#461670264666fdaa6dfbe3b54adb3caf">firstIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3e34760a48a65ef1cf6fd539576563b1">PDO_TRS_MAP</a>;

   406

<a name="l00449"></a>00449   <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> lastIndex = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#b01f37370a5a9583486a84308f4e20b8">lastIndex</a>-&gt;<a class="code" href="structs__quick__index.html#3d3be3b6c3764c9fd6ee3fa1b86bcd3a">PDO_TRS</a>;  

   407

<a name="l00450"></a>00450 

   408

<a name="l00451"></a>00451   <span class="comment">/* study all PDO stored in the objects dictionary */</span>  

   409

<a name="l00452"></a>00452   <span class="keywordflow">if</span>(offsetObjdict){

   410

<a name="l00453"></a>00453    <a class="code" href="structMessage.html">Message</a> pdo = <a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;

   411

<a name="l00454"></a>00454    <span class="keywordflow">while</span>( offsetObjdict &lt;= lastIndex) {  

   412

<a name="l00455"></a>00455     <span class="keywordflow">switch</span>( status ) {

   413

<a name="l00456"></a>00456     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#32583b36b084e43274f3e61d2afd67dd">state3</a>:

   414

<a name="l00457"></a>00457       <span class="keywordflow">if</span> (<span class="comment">/*d-&gt;objdict[offsetObjdict].bSubCount &lt; 5 || not necessary with objdictedit (always 5)*/</span>

   415

<a name="l00458"></a>00458           <span class="comment">/* check if TPDO is not valid */</span> 

   416

<a name="l00459"></a>00459           *(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>*)<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[0].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a> &amp; 0x8000) {

   417

<a name="l00460"></a>00460           <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3960, <span class="stringliteral">"Not a valid PDO "</span>, 0x1800 + pdoNum);

   418

<a name="l00461"></a>00461           <span class="comment">/*Go next TPDO*/</span>

   419

<a name="l00462"></a>00462           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   420

<a name="l00463"></a>00463           <span class="keywordflow">break</span>;

   422

<a name="l00465"></a>00465       <span class="comment">/* get the PDO transmission type */</span>

   423

<a name="l00466"></a>00466       pTransmissionType = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>*) <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c94e9f25340858372f5ccd32d4e548ba">objdict</a>[offsetObjdict].<a class="code" href="structtd__indextable.html#ac79f81f711d3f7962ea6042ab8ee0bb">pSubindex</a>[2].<a class="code" href="structtd__subindex.html#37815d4ca1a02a25c0f7a66c53902ee5">pObject</a>;    

   424

<a name="l00467"></a>00467       <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3962, <span class="stringliteral">"Reading PDO at index : "</span>, 0x1800 + pdoNum);

   425

<a name="l00468"></a>00468 

   426

<a name="l00469"></a>00469       <span class="comment">/* check if transmission type is SYNCRONOUS */</span>

   427

<a name="l00470"></a>00470       <span class="comment">/* The message is transmited every n SYNC with n=TransmissionType */</span>      

   428

<a name="l00471"></a>00471       <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 

   429

<a name="l00472"></a>00472           (*pTransmissionType &gt;= TRANS_SYNC_MIN) &amp;&amp;

   430

<a name="l00473"></a>00473           (*pTransmissionType &lt;= TRANS_SYNC_MAX) &amp;&amp;

   431

<a name="l00474"></a>00474           (++<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> == *pTransmissionType) ) {

   432

<a name="l00475"></a>00475         <span class="comment">/*Reset count of SYNC*/</span> 

   433

<a name="l00476"></a>00476         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> = 0;

   434

<a name="l00477"></a>00477         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3964, <span class="stringliteral">"  PDO is on SYNCHRO. Trans type : "</span>, *pTransmissionType);

   435

<a name="l00478"></a>00478         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;

   436

<a name="l00479"></a>00479         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))

   437

<a name="l00480"></a>00480         {

   438

<a name="l00481"></a>00481             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1906, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);

   439

<a name="l00482"></a>00482             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   440

<a name="l00483"></a>00483             <span class="keywordflow">break</span>;

   441

<a name="l00484"></a>00484         }

   442

<a name="l00485"></a>00485         status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;

   443

<a name="l00486"></a>00486       <span class="comment">/* If transmission RTR, with data sampled on SYNC */</span>

   444

<a name="l00487"></a>00487       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>( isSyncEvent &amp;&amp; 

   445

<a name="l00488"></a>00488           (*pTransmissionType == TRANS_RTR_SYNC)) {

   446

<a name="l00489"></a>00489           <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;d-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a>))

   447

<a name="l00490"></a>00490           {

   448

<a name="l00491"></a>00491              <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1966, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);

   449

<a name="l00492"></a>00492              d-&gt;PDO_status[pdoNum].transmit_type_parameter &amp;= ~PDO_RTR_SYNC_READY; 

   450

<a name="l00493"></a>00493           }<span class="keywordflow">else</span>{

   451

<a name="l00494"></a>00494              d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_RTR_SYNC_READY; 

   452

<a name="l00495"></a>00495           }

   453

<a name="l00496"></a>00496           status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   454

<a name="l00497"></a>00497           <span class="keywordflow">break</span>;

   455

<a name="l00498"></a>00498       <span class="comment">/* If transmission on Event and not inhibited, check for changes */</span>

   456

<a name="l00499"></a>00499       }<span class="keywordflow">else</span> <span class="keywordflow">if</span>((*pTransmissionType == TRANS_EVENT_PROFILE ||

   457

<a name="l00500"></a>00500                *pTransmissionType == TRANS_EVENT_SPECIFIC )&amp;&amp;

   458

<a name="l00501"></a>00501               !(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#f9e27232316e15b6bc6465a9e5513d2f">transmit_type_parameter</a> &amp; PDO_INHIBITED)) {

   459

<a name="l00502"></a>00502         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3968, <span class="stringliteral">"  PDO is on EVENT. Trans type : "</span>, *pTransmissionType);

   460

<a name="l00503"></a>00503         pdo = (<a class="code" href="structMessage.html">Message</a>)<a class="code" href="can_8h.html#b122f3ecb2013e301feedf9a39479c15">Message_Initializer</a>;

   461

<a name="l00504"></a>00504         <span class="keywordflow">if</span>(<a class="code" href="pdo_8c.html#06b1b812ca18d3167243fb2b2acb6414">buildPDO</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, pdoNum, &amp;pdo))

   462

<a name="l00505"></a>00505         {

   463

<a name="l00506"></a>00506             <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x3907, <span class="stringliteral">" Couldn't build TPDO number : "</span>, pdoNum);

   464

<a name="l00507"></a>00507             status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   465

<a name="l00508"></a>00508             <span class="keywordflow">break</span>;

   466

<a name="l00509"></a>00509         }

   467

<a name="l00510"></a>00510         

   468

<a name="l00511"></a>00511         <span class="comment">/*Compare new and old PDO*/</span>

   469

<a name="l00512"></a>00512         <span class="keywordflow">if</span>(d-&gt;PDO_status[pdoNum].last_message.cob_id.w == pdo.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> &amp;&amp;

   470

<a name="l00513"></a>00513            d-&gt;PDO_status[pdoNum].last_message.len == pdo.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> &amp;&amp;

   471

<a name="l00514"></a>00514            *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;d-&gt;PDO_status[pdoNum].last_message.data[0]) == *(<a class="code" href="hcs12_2applicfg_8h.html#b03811fd7017e247f6cd5f100f50e695">UNS64</a>*)(&amp;pdo.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0])){

   472

<a name="l00515"></a>00515                 <span class="comment">/* No changes -&gt; go to next pdo*/</span>

   473

<a name="l00516"></a>00516                 status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   474

<a name="l00517"></a>00517         }<span class="keywordflow">else</span>{

   475

<a name="l00518"></a>00518                 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306A, <span class="stringliteral">"Changes TPDO number : "</span>, pdoNum);

   476

<a name="l00519"></a>00519                 <span class="comment">/* Changes detected -&gt; transmit message */</span>

   477

<a name="l00520"></a>00520                 status = <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>;

   478

<a name="l00521"></a>00521                 

   479

<a name="l00522"></a>00522                 <span class="comment">/* Start both event_timer and inhibit_timer*/</span>

   480

<a name="l00523"></a>00523                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].event_timer);

   481

<a name="l00524"></a>00524                 d-&gt;PDO_status[pdoNum].event_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#1e6f0540474e95f2928151efec83ccb6">PDOEventTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#ffc50d6b8321e910d6d4821b2aecfa92">MS_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[5].pObject), 0);

   482

<a name="l00525"></a>00525                 

   483

<a name="l00526"></a>00526                 <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(d-&gt;PDO_status[pdoNum].inhibit_timer);

   484

<a name="l00527"></a>00527                 d-&gt;PDO_status[pdoNum].inhibit_timer = <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(d, pdoNum, &amp;<a class="code" href="pdo_8c.html#adf6445208b9af9b11f66f66a5d1f1f9">PDOInhibitTimerAlarm</a>, <a class="code" href="hcs12_2applicfg_8h.html#5f44d2f770d3bd711510372589f5ae9c">US_TO_TIMEVAL</a>(*(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a>*)d-&gt;objdict[offsetObjdict].pSubindex[3].pObject * 100), 0);

   485

<a name="l00528"></a>00528                 

   486

<a name="l00529"></a>00529                 <span class="comment">/* and inhibit TPDO */</span>

   487

<a name="l00530"></a>00530                 d-&gt;PDO_status[pdoNum].transmit_type_parameter |= PDO_INHIBITED;

   488

<a name="l00531"></a>00531         }

   489

<a name="l00532"></a>00532       }<span class="keywordflow">else</span>{

   490

<a name="l00533"></a>00533         <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x306C, <span class="stringliteral">"  PDO is not on EVENT or synchro or not at this SYNC. Trans type : "</span>, *pTransmissionType);

   491

<a name="l00534"></a>00534         status = <a class="code" href="def_8h.html#c71929345a7f1c523a13b5fccac8b5b4">state11</a>;

   492

<a name="l00535"></a>00535       }      

   493

<a name="l00536"></a>00536         <span class="keywordflow">break</span>;

   494

<a name="l00537"></a>00537     <span class="keywordflow">case</span> <a class="code" href="def_8h.html#71a32da348c22a5ed861020c2d3d0204">state5</a>: <span class="comment">/*Send the pdo*/</span>

   495

<a name="l00538"></a>00538         <span class="comment">/*store_as_last_message*/</span>

   496

<a name="l00539"></a>00539         <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#2e5d772f4328eda06de1e04ebe6be2d2">PDO_status</a>[pdoNum].<a class="code" href="structstruct__s__PDO__status.html#931e8bae4199cd2374f585d6fb073356">last_message</a> = pdo;